Using a robot operating system to simulate the capture of a known object under known conditions
Authors: Gulnyashkin A.A., Sokolov N.A. | |
Published in issue: #5(58)/2021 | |
DOI: 10.18698/2541-8009-2021-5-697 | |
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems |
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Keywords: Robot Operating System (ROS), MoveIt, Gazebo, RViz, URDF, manipulative robotics, object capture, simulation of control algorithms, trajectory planning |
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Published: 24.05.2021 |
The paper is devoted to the use of the Robot Operating System framework for the development of an algorithm for controlling the movement of a typical manipulation robot during the operation of gripping the manipulation object and modeling the operation of this algorithm, provided that both the object and the environment are known. A description is given of the stages of creating a robotic complex model in the form of URDF files. The control algorithm is implemented using MoveIt software. The results are presented of physical modeling of the robotic complex in the Gazebo modeling system, as well as trajectory planning and object capture using MoveIt.
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